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检索条件"机构=Robotics Engineering Program"

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Measurement of structural displacement using visually servoded paired structured light system

Measurement of structural displacement using visually servod...

引用

28th International Symposium on Automation and robotics in Construction, ISARC 2011

作者： Jeon, Haemin Bang, Yousuk Myung, Hyun Department of Civil and Environmental Engineering KAIST Daejeon Korea Republic of Department of Civil and Environmental Engineering Robotics Program KAIST Daejeon Korea Republic of

Over the past several decades, there has been rapid growth in research on the displacement measurement system for large structures. However, widely used sensors such as accelerometers, strain gauges, PZT, and GPS have disadvantages that they indirectly measure the displacement, are difficult to install, or costly to maintain. To solve the aforementioned problem, a paired structured light (SL) system was introduced in the previous study. Each module is composed of two screens facing with each other each with one or two lasers and a camera. Though the system can successfully estimate 6-DOF displacement, the measurable displacement range is limited due to the limited screen size. In this paper, therefore, a visually servoed paired SL system is proposed. The newly proposed system uses a visually servoed 2-DOF manipulator in order to make the projected laser beams are always on the screen. In other words, the laser pointer is controlled by a manipulator before it gets off. Various experiments were performed to validate the proposed system. The results show that the proposed system estimates 6-DOF displacement with high accuracy and with largely expanded measurement range. By cascading multiple modules, the proposed system can be applied to the massive structures such as long-span bridges or high-rise buildings.

关键词： Manipulators

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A new method of task specification for spherical mechanism design

A new method of task specification for spherical mechanism d...

引用

ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Tse, David M. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present a novel method for motion generation task specification for spherical mechanisms. This is accomplished with a new methodology for determining the optimal design sphere and the orientations on this design sphere for a finite set of desired spatial positions. In addition, we include a modification to the method which enables the designer to require that one of the n desired spatial positions be exactly preserved. The result is that designers can now specify spherical mechanismmotion generation tasks without having to introduce into the design space an artificial design sphere. They are now free to work in unconstrained three-dimensional space. The application of this new task specification technique is discussed in a design case study. © 1998 by ASME.

关键词： Spheres

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Sphinxcam: Computer-aided manufacturing for spherical mechanisms

Sphinxcam: Computer-aided manufacturing for spherical mechan...

引用

ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Ketchel, John S. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPHINXCAM, a computer-aided manufacturing software for spherical four-bar mechanisms. The kinematics of spherical mechanisms are reviewed as they pertain to their manufacture. This is followed by a brief review of some of the current computer-aided design (CAD) software for spherical four-bar mechanisms, e.g. SPHINX, SPHINXPC, and ISIS. These software packages provide the three-dimensional visualization and computational capabilities necessary to design spherical four-bar mechanisms. However, to date no tools exist to aid in the manufacture of spherical mechanisms. SPHINXCAM, when used with the CAD tools mentioned above, facilitates the design, visualization, and manufacture of spherical four-bar mechanisms. © 1998 by ASME.

关键词： Visualization

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CIRCUIT AND BRANCH RECTIFICATION OF THE SPATIAL 4C MECHANISM

CIRCUIT AND BRANCH RECTIFICATION OF THE SPATIAL 4C MECHANISM

引用

ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Larochelle, Pierre M. Mechanical Engineering Program Robotics and Spatial Systems Laboratory Florida Institute of Technology MelbourneFL32904 United States

ISBN: (纸本)9780791835173

Spatial 4C mechanisms are two degree of freedom kinematic closed-chains consisting of four rigid links simply connected in series by cylindrical(C) joints. In this work we are concerned with the design of spatial 4C mechanisms which move a rigid body through a finite sequence of prescribed locations in space. This task is referred to as rigid-body guidance by Suh and Radcliffe (20) and as motion generation by Erdman and Sandor (6). When 4C mechanisms are synthesized for such a task, for example by utilizing Roth's spatial generalization of Burmester's planar methods (17;18), the result is the physical dimensions which kinematically define the mechanism. However, the motion of the mechanism which takes the work piece through the sequence of prescribed locations in space is not determined. In fact, it may be impossible for the mechanism to move the body through all of the desired locations without disassembling the mechanism. This condition is referred to as a circuit defect. Moreover, in some cases the mechanism may enter a configuration which requires an additional mechanical input to guide the moving body as desired. These are referred to as branch defects. This paper presents a methodology for analyzing spatial 4C mechanisms to eliminate circuit and branch defects in motion generation tasks. Copyright © 2000 by ASME.

关键词： Location

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A portable workcell design for robotics industry

A portable workcell design for robotics industry

引用

2009 ASEE Annual Conference and Exposition

作者： Padir, Taskin Department of Robotics Engineering Program Worcester Polytechnic Institute United States Department of Electrical and Computer Engineering Lake Superior State University United States

This paper presents how a senior capstone project can be utilized to build partnerships between the academia and several companies representing key industries in modern robotics technology. The project can be described as designing a portable robotic workcell for industry to showcase state-of-the-art equipment and technologies in robotics. The industrial sponsor for this project is Applied Manufacturing Technologies (AMT) located in Orion, Michigan. AMT plans to use the workcell for demonstrating current robotics technology in tradeshows, industrial open houses and/or robotics conferences. In addition, the workcell is to be used as a platform to provide training to engineers working in robotics industry on robot programming, machine vision and systems integration. The small size, flexible design and durability make the workcell appealing to many other applications in robotics engineering. An engineering senior project design team composed of one computer engineer, two electrical engineers and two manufacturing engineering technologists at Lake Superior State University has worked on this project as their capstone design requirement through the 2007-2008 academic year. Lake Superior State University offers ABET accredited programs in computer, electrical and mechanical engineering as well as in manufacturing engineering technology. robotics and automation is a degree option in all majors. The capstone senior design project is an integral part of all the degree programs and provides a real-life experience for the engineering senior students. The two-semester course has been an important tool to introduce students to soft skills such as project management, communications, engineering economics, and engineering ethics. The paper illustrates how a capstone design project can be used to build partnerships in robotics technology. An educational partnership between Lake Superior State University and Applied Manufacturing Technologies has quickly expanded to include many oth

关键词： engineering education

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Scalar field reconstruction based on the Gaussian process and adaptive sampling 14

Scalar field reconstruction based on the Gaussian process an...

引用

14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

作者： Jonsson, Porsteinn B. Wang, Jeonghyeon Kim, Jinwhan Laboratory Department of Mechanical Engineering KAIST Daejeon34141 Korea Republic of Robotics Program KAIST Daejeon34141 Korea Republic of

ISBN: (纸本)9781509030552

This paper proposes a method of reconstructing a scalar field by adaptively choosing sampling locations and using the measurements obtained from those locations to reconstruct an estimate of the underlying field using Gaussian process regression. Spreading sampling points evenly over the field may not always be effective if the field is not uniformly distributed and the maximum number of measurements is limited. Taking more measurements in regions of large changes in the field than in regions of small changes can give a better estimate than spreading the same number of measurements evenly over the space. The proposed algorithm was tested on a synthetic scalar field and compared to two popular methods of determining sensor placement based on entropy and mutual information from information theory. © 2017 IEEE.

关键词： Gaussian noise (electronic)

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Object following robot using vision camera, single curvature trajectory and Kalman filters

Object following robot using vision camera, single curvature...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Heo, Shin-Nyeong Lim, Hyun-Seop Hwang, Seungik Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

Path planning of mobile robot has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and they are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera;the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally the mobile robot follows the moving object using a single curvature trajectory by estimating trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and error rate have been saved about 7 %. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Kalman filters

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Outdoor precision position estimation system using multi-GPS receivers

Outdoor precision position estimation system using multi-GPS...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Choi, Seunghwan Kim, Kijung Kim, Yunki Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

In this paper, tightly coupled system is designed using multi-GPS receivers based on the Extended Kalman Filter(EKF). Typically, GPS has the instantaneous error and INS has the disadvantage that the cumulative error occurs over time. To fill the gap, receiving is stabilized and accuracy is higher position information get using multi-GPS receivers. INS's data is precisely updated through the multi-GPS's position data in the data fusion process of the EKF. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Global positioning system

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Pose Synchronization for Semi-Autonomous Dynamic Robotic Swarms with a Passivity-Short Human Operator 49

Pose Synchronization for Semi-Autonomous Dynamic Robotic Swa...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Kanazawa, Reo Murao, Toshiyuki Kawai, Hiroyuki Kanazawa Institute of Technology Graduate Program in Mechanical Engineering Ishikawa Japan Kanazawa Institute of Technology Department of Robotics Ishikawa Japan

ISBN: (纸本)9798350331820

This paper presents a pose synchronization method for semi-autonomous dynamic robotic swarms with a passivityshort human operator. In the human-robot network, a human operator sends a command signal to and receives visual information from only a part of the robotic group. In this setting, the proposed dynamic control scheme achieves not only pose synchronization of all mobile robots but also convergence to the reference pose that the human operator specifies. The main advantage of the proposed method is to guarantee convergence of not only the position but also the orientation to the reference ones in the human-robot network. Finally, we provide human-in-the-loop simulation results through the human operation using a tablet PC to illustrate the performance of the proposed control method. © 2023 IEEE.

关键词： Synchronization

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Vision based people tracking using stereo camera and camshift

Vision based people tracking using stereo camera and camshif...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Park, Kang-Il Park, Chan-Ik Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

In this paper proposes a visual manipulation method that incorporates computation of 3D object position from characteristic disparity of stereo image. First, we proceed to an image revision work using the calibration. To obtain the characteristic disparity, a set of characteristic points, essential to obtain characteristics like center points or corner points are determined from the CAMShift center of left and right images. By iterative computation and tracking in real time, the algorithm is able to robustly provide accurate 3D position of target objects. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Calibration

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